Bionic exoskeleton convenient to disassemble and assemble and method thereof

Abstract

The invention discloses a bionic exoskeleton convenient to disassemble and assemble and a method thereof, and belongs to the technical field of lower limb rehabilitation. A servo vertical moving assembly is arranged at the upper end of the moving rack; a split type combined mechanism is arranged on the fixed seat; a linkage type supporting mechanism is arranged at the lower end of the movable rack; a variable-diameter circumferential track rehabilitation exercise mechanism is arranged at the lower end of the movable rack, and the variable-diameter circumferential track rehabilitation exercise mechanism comprises an adjustable exercise driving assembly and an extension connecting assembly. A patient can carry out lower limb rehabilitation training of different types and different intensities through cooperation of the movable rack and all assemblies on the adjustable electrical stimulation exoskeleton, and in the whole lower limb rehabilitation training process of the patient, the adjustable electrical stimulation exoskeleton is further matched with an electrical stimulation mode to improve the stimulation effect on leg muscles of the patient; therefore, the lower limb rehabilitation training effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lower limb rehabilitation, and in particular to a bionic exoskeleton that is easy to disassemble and assemble and a method thereof. Background Art

[0002] For patients with hemiplegia, spinal cord injury and other lower limb function problems, rehabilitation treatment requires the use of mechanical structures to provide support or increase strength for the patients' lower limbs, so that patients can successfully complete activities such as walking or standing, thereby gradually restoring the normal walking function of the patients' lower limbs.

[0003] Chinese patent CN112190445A discloses a rehabilitation exoskeleton robot, including a back main box, a waist connecting frame and walking actuators symmetrically arranged on both sides of the waist connecting frame, wherein the walking actuators include a hip joint actuator, a thigh connecting rod, a knee joint actuator, a calf connecting rod and a foot pressure shoe from top to bottom; the robot can assist patients in completing lower limb rehabilitation training, but the robot still has the following problems:

[0004] 1. For patients with weak lower limbs, they usually need to sit to assist in putting on and taking off the exoskeleton. At this time, they need to use a support structure such as a bench, which is not convenient for patients to put on and take off the exoskeleton;

[0005] 2. At the beginning of each rehabilitation training, the patient's joints will feel sticky due to lack of warm-up, which will cause discomfort when starting to walk with the help of the exoskeleton;

[0006] 3. In order to increase the recovery speed of the patient's lower limbs, the patient's legs need to continue to move in a circular trajectory. It is inconvenient to rely solely on the exoskeleton itself to drive the patient to continue to make corresponding movements. In addition, the range of motion required by different patients and patients at different stages is also relatively different.

[0007] Based on this, the present invention designs a bionic exoskeleton that is easy to disassemble and assemble and a method thereof to solve the above-mentioned problems. Summary of the invention

[0008] In view of the above-mentioned shortcomings of the prior art, the present invention provides a bionic exoskeleton and method thereof that is easy to assemble and disassemble.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0010] A bionic exoskeleton that is easy to disassemble and assemble, comprising a mobile frame and an adjustable electrical stimulation exoskeleton;

[0011] The upper end of the mobile frame is provided with a servo vertical moving assembly, and the mobile end of the servo vertical moving assembly is fixedly installed with a control box; the front end of the control box is fixedly installed with a fixed seat; the left and right sides of the fixed seat are symmetrically fixed with support rods; the lower end of the mobile frame is provided with a plurality of universal walking wheels;

[0012] The fixed seat is provided with a split combination mechanism which is detachably connected to the adjustable electrical stimulation exoskeleton, and the adjustable electrical stimulation exoskeleton has the function of adjusting the rotation resistance at its joints;

[0013] The lower end of the mobile frame is provided with a linkage support mechanism for automatically unfolding to support the patient's buttocks when the fixed seat moves down to the lowest point of its travel;

[0014] A variable diameter circular trajectory rehabilitation motion mechanism is also provided at the lower end of the mobile frame, and the variable diameter circular trajectory rehabilitation motion mechanism includes an adjustable motion drive component and an extension connection component. An adjustable motion drive component with adjustable circular trajectory motion diameter is installed at the bottom of the mobile frame, and an extension connection component for driving the patient's foot movement is installed at the mobile end of the adjustable motion drive component.

[0015] Furthermore, the adjustable motion drive assembly includes a bracket, a driving motor, a rotating plate, a fixed plate, a pitch variable slot and a pitch variable screw. The bracket is fixedly installed at the bottom of the mobile frame, the driving motor is fixedly connected to the bracket, and the output end of the driving motor is fixedly installed with a rotating plate; the fixed plate is fixedly connected to the rotating plate, and the fixed plate is provided with a pitch variable slot that is limitedly slidably connected to the pitch variable block; the pitch variable screw is rotatably connected to the fixed plate through a bearing, and the pitch variable screw is threadedly connected to the pitch variable block through a threaded sleeve.

[0016] Furthermore, the extended connection assembly includes a connecting block, a connecting rod, a limit slide rod, a limit slider, a cross bar and a foot sleeve, the connecting block and the pitch variable block are rotatably connected via a bearing; the connecting block is limitedly slidably connected to the rear end of the connecting rod, a cross bar is fixedly installed at the front end of the connecting rod, and foot sleeves connected to the patient's feet are symmetrically fixedly installed on the left and right sides of the cross bar; the limit slide rod is fixedly installed at the lower end of the mobile frame, the limit slider is limitedly slidably connected to the limit slide rod, and the limit slider is limitedly slidably connected to the middle part of the connecting rod.

[0017] Furthermore, the adjustable electrical stimulation exoskeleton is composed of a support base, a first joint arm, a second joint arm and a movable foot pedal that are hinged to each other from top to bottom. The support base, the first joint arm, the second joint arm and the movable foot pedal are all provided with straps for fixing the patient's limbs thereto, and the inner sides of the straps on the first joint arm and the second joint arm are provided with electrode sheets for assisting electrical stimulation rehabilitation therapy; a damping adjustment component for controlling the resistance to knee flexion is provided between the first joint arm and the second joint arm.

[0018] Furthermore, the damping adjustment assembly includes a fixed block, a friction top block, a protrusion, a groove and an adjusting screw. The fixed block is fixedly installed at the lower end of the first joint arm, and a groove is opened on the fixed block. The friction top block is used to support the upper end of the second joint arm, and a protrusion is fixedly installed on the friction top block and is slidably connected to the groove; the adjusting screw is rotatably connected to the friction top block through a bearing, and the adjusting screw is threadedly connected to the fixed block through a threaded sleeve; a rubber layer for increasing friction is arranged between the friction surface of the friction top block and the second joint arm.

[0019] Furthermore, the split combination mechanism includes a card block, a card slot and a fixing screw hole, the outer side of the support seat is conformally fitted with the inner side of the fixing seat, a plurality of card slots are provided at the lower end of the support seat along the bottom surface of the support seat, and a plurality of card blocks that are plugged into the card slots are fixedly installed at the lower end of the fixing seat; matching fixing screw holes are also provided on the side walls of the support seat and the fixing seat;

[0020] Matching electrode points are arranged between the fixing seat and the supporting seat. After the fixing seat and the supporting seat are plugged and fixed, the adjustable electric stimulation exoskeleton is charged through the control box.

[0021] Furthermore, the servo vertical movement assembly includes a servo motor, a driving screw, a guide slide and a mounting block. The servo motor is fixedly installed at the lower end of the mobile frame, the two ends of the guide slide are fixedly connected to the mobile frame, the two ends of the driving screw are rotatably connected to the mobile frame through bearings, and the output end of the servo motor is fixedly connected to the driving screw; a mounting block is fixedly installed at the rear end of the control box, the mounting block is limitedly slidably connected to the guide slide, and the mounting block is threadedly connected to the driving screw through a threaded sleeve; the driving screw is driven to rotate by the servo motor, and the control box can be controlled to move in the vertical servo, so that the height of the adjustable electrical stimulation exoskeleton meets the usage requirements of different patients.

[0022] Furthermore, the linkage support mechanism includes a supporting seat, a connecting plate, a tension spring, a pull rope, an avoidance groove, a pressure plate and a support block. One end of the connecting plate is hinged to the lower end of the mobile frame, and the other end of the connecting plate is hinged to the lower side of the supporting seat. The center of gravity of the supporting seat is located at the front end of the supporting seat; an avoidance groove for avoiding the variable-diameter circular trajectory rehabilitation movement mechanism is provided at the front end of the supporting seat, and a pressure plate for cooperating with the mounting block is fixedly installed at the rear end of the supporting seat; a support block overlapped with the pressure plate is also fixedly installed on the mobile frame; when the pressure plate is pressed on the support block, the supporting seat is in a horizontal state.

[0023] Furthermore, a tension spring is fixedly installed between the connecting plate and the movable frame, and a pull rope is fixedly installed between the supporting seat plate and the connecting plate; in a natural state, the tension spring pulls the connecting plate, and the supporting seat plate tilts forward to lift the pressure plate.

[0024] In order to better achieve the purpose of the present invention, the present invention also provides a method for easily disassembling and assembling a bionic exoskeleton, comprising the following steps:

[0025] Step 1: The control box is controlled to descend to the lowest point of its travel through the servo vertical moving component, and the linkage support mechanism is automatically opened under the downward pressure of the control box. The patient sits on the linkage support mechanism in a sitting position to complete the wearing operation of the adjustable electrical stimulation exoskeleton;

[0026] Step 2: After the wearing is completed, the servo vertical moving component controls the control box to move upward to lift the adjustable electrical stimulation exoskeleton until the patient can maintain an upright position. During the lifting process of the adjustable electrical stimulation exoskeleton, the linkage support mechanism automatically folds to make room for the patient;

[0027] Step 3: The adjustable electrical stimulation exoskeleton provides support for the patient's lower limbs, and the support rod provides support for the patient's upper limbs. The adjustable electrical stimulation exoskeleton drives the patient's lower limbs to walk. After completing the initial warm-up training, the patient holds the support rod and performs walking training independently;

[0028] Step 4: After the patient adapts to the walking rhythm, the patient's feet are connected to the foot covers, and the driving motor drives the rotating plate to rotate to drive the connecting rod to move under the limiting action of the limiting slide bar and the limiting slider, so that the two ends of the connecting rod make circular motion synchronously, so that the patient can perform lower limb rehabilitation exercises;

[0029] Step 5: After the patient adapts to the current intensity each time, the pitch-changing screw is turned to drive the pitch-changing block to slide in the pitch-changing slot of the fixed plate, and the distance between the pitch-changing block and the axis of the drive motor is increased to increase the diameter of the circular track, thereby realizing a step-by-step enhancement of the patient's rehabilitation training intensity;

[0030] Step 6: After the patient adapts to the lower limb walking movements, the split combination mechanism separates the adjustable electrical stimulation exoskeleton from the mobile frame and conducts free walking training.

[0031] Compared with the prior art, the present invention has the following beneficial effects: 1. The mobile frame and the adjustable electrical stimulation exoskeleton adopt a split combination design. When the patient needs to use the adjustable electrical stimulation exoskeleton for rehabilitation training, the servo vertical moving component controls the control box to descend to the lowest point of its travel. At this time, the linkage support mechanism automatically opens under the downward pressure of the control box, and the patient can sit on the linkage support mechanism in a sitting position to complete the wearing operation of the adjustable electrical stimulation exoskeleton;

[0032] 2. The adjustable electrical stimulation exoskeleton provides support for the patient's lower limbs, and the support rod provides support for the patient's upper limbs. The mobile frame and the adjustable electrical stimulation exoskeleton cooperate to form the structure of a children's walker, so that the patient can start lower limb rehabilitation training from warm-up; by connecting the patient's feet to the extension connection component, the patient is driven to continue circular trajectory training through the adjustable motion drive component, and after the patient adapts to the current intensity, the diameter of the circular trajectory is increased to increase the amplitude of the training, thereby forming a step-by-step increase effect on the patient's rehabilitation training intensity;

[0033] 3. For patients with better lower limb recovery, the mobile frame and the adjustable electrical stimulation exoskeleton are separated by a split combination mechanism. The patients do not need the assistance of the mobile frame, but can walk independently only with the adjustable electrical stimulation exoskeleton. The damping size of the adjustable electrical stimulation exoskeleton joints can also be changed to enhance the walking training intensity of the patients. During the entire lower limb rehabilitation training process of the patients, the adjustable electrical stimulation exoskeleton also uses electrical stimulation to increase the stimulation effect on the patient's leg muscles, thereby improving the lower limb rehabilitation training effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 The present invention is a three-dimensional Figure 1 ;

[0036] Figure 2 A front view of the present invention as a whole;

[0037] Figure 3 It is a right side view of the present invention as a whole;

[0038] Figure 4 A stereoscopic diagram of the adjustable electrical stimulation exoskeleton of the present invention;

[0039] Figure 5 A three-dimensional diagram of a mobile frame of the present invention;

[0040] Figure 6 It is a three-dimensional diagram of the split combination mechanism of the present invention;

[0041] Figure 7 for Figure 4 The enlarged view of point A in the middle;

[0042] Figure 8A three-dimensional diagram of the variable diameter circular trajectory rehabilitation exercise mechanism of the present invention;

[0043] Fig. 9 It is a three-dimensional diagram of the linkage support mechanism of the present invention.

[0044] The numbers in the figure represent:

[0045] 1. Mobile frame; 11. Control box; 12. Universal walking wheel; 13. Servo vertical moving assembly; 131. Servo motor; 132. Driving screw rod; 133. Guide slide rod; 134. Mounting block; 14. Fixed seat; 15. Support rod; 2. Adjustable electrical stimulation exoskeleton; 21. Support seat; 22. First joint arm; 23. Second joint arm; 24. Movable foot pedal; 25. Strap; 26. Electrode sheet; 27. Damping adjustment assembly; 271. Fixed block; 272. Friction top block; 273. Bump; 274. Groove; 275. Adjusting screw rod; 3. Linkage support mechanism; 31. Support seat; 32. Connecting plate; 33. Tension spring; 34. Pull rope; 35. Avoidance groove; 36. Pressure plate; 37. Support block; 4. Variable diameter circular trajectory rehabilitation motion mechanism; 41. Adjustable motion drive assembly; 411. Bracket; 412. Drive motor; 413. Rotating plate; 414. Fixed plate; 415. Variable pitch groove; 416. Variable pitch screw rod; 417. Variable pitch block; 42. Extended connecting assembly; 421. Connecting block; 422. Connecting rod; 423. Limiting slide rod; 424. Limiting slide block; 425. Cross bar; 426. Foot cover; 5. Split combination mechanism; 51. Block; 52. Card slot; 53. Fixing screw hole. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] The terms “left”, “right”, “front”, “back”, “up” and “down” mentioned in the following description are oriented in the viewing direction of the front view.

[0048] Embodiment 1: In some embodiments, please refer to the drawings of the specification Figure 1-Figure 9 , a bionic exoskeleton that is easy to disassemble and assemble, comprising a mobile frame 1 and an adjustable electrical stimulation exoskeleton 2;

[0049] The upper end of the mobile frame 1 is provided with a servo vertical moving assembly 13, and the moving end of the servo vertical moving assembly 13 is fixedly installed with a control box 11; the front end of the control box 11 is fixedly installed with a fixing seat 14; the left and right sides of the fixing seat 14 are symmetrically fixed with support rods 15; the lower end of the mobile frame 1 is provided with a plurality of universal walking wheels 12;

[0050] The fixing seat 14 is provided with a split combination mechanism 5 detachably connected to the adjustable electrical stimulation exoskeleton 2, and the adjustable electrical stimulation exoskeleton 2 has the function of adjusting the rotation resistance at its joints;

[0051] The lower end of the mobile frame 1 is provided with a linkage support mechanism 3 for automatically unfolding to support the patient's buttocks when the fixed seat 14 moves down to the lowest point of its travel;

[0052] A variable diameter circular trajectory rehabilitation motion mechanism 4 is also provided at the lower end of the mobile frame 1. The variable diameter circular trajectory rehabilitation motion mechanism 4 includes an adjustable motion drive component 41 and an extension connection component 42. The bottom of the mobile frame 1 is installed with an adjustable motion drive component 41 with an adjustable circular trajectory motion diameter, and the mobile end of the adjustable motion drive component 41 is installed with an extension connection component 42 for driving the patient's foot movement.

[0053] In the present invention, the mobile frame 1 and the adjustable electrical stimulation exoskeleton 2 are designed in a split combination. When the patient needs to use the adjustable electrical stimulation exoskeleton 2 for rehabilitation training, the servo vertical moving component 13 controls the control box 11 to descend to the lowest point of its travel. At this time, the linkage support mechanism 3 is automatically opened under the downward pressure of the control box 11, and the patient can sit on the linkage support mechanism 3 to complete the wearing operation of the adjustable electrical stimulation exoskeleton 2 in a sitting position;

[0054] After the wearing is completed, the servo vertical moving component 13 controls the control box 11 to move upward to lift the adjustable electrical stimulation exoskeleton 2 until the patient can maintain an upright state. During the lifting process of the adjustable electrical stimulation exoskeleton 2, the linkage support mechanism 3 automatically folds to make room for the patient;

[0055] The adjustable electrical stimulation exoskeleton 2 provides support for the patient's lower limbs, and the support rod 15 provides support for the patient's upper limbs. The mobile frame 1 and the adjustable electrical stimulation exoskeleton 2 cooperate to form a structure of a children's walker. Initially, the adjustable electrical stimulation exoskeleton 2 drives the patient's lower limbs to walk. After completing the initial warm-up training, the patient holds the support rod 15 to independently perform walking training. When the patient adapts to the walking rhythm, the patient's feet are connected to the extension connection component 42, and the patient is driven by the adjustable motion drive component 41 to continue the circular trajectory training. After the patient adapts to the current intensity, the diameter of the circular trajectory is increased to increase the amplitude of the training, thereby forming a step-by-step increase effect on the patient's rehabilitation training intensity.

[0056] For patients whose lower limbs have recovered well, the mobile frame 1 and the adjustable electrical stimulation exoskeleton 2 are separated by the split combination mechanism 5. The patients do not need the assistance of the mobile frame 1, but can walk independently only through the adjustable electrical stimulation exoskeleton 2. The damping size of the joints of the adjustable electrical stimulation exoskeleton 2 can also be changed to enhance the walking training intensity of the patients. During the entire lower limb rehabilitation training process of the patients, the adjustable electrical stimulation exoskeleton 2 also cooperates with the use of electrical stimulation to increase the stimulation effect on the patient's leg muscles, thereby improving the lower limb rehabilitation training effect.

[0057] The adjustable motion drive assembly 41 includes a bracket 411, a drive motor 412, a rotating plate 413, a fixed plate 414, a pitch-changing slot 415 and a pitch-changing screw rod 416. The bracket 411 is fixedly installed at the bottom of the mobile frame 1, the drive motor 412 is fixedly connected to the bracket 411, and the output end of the drive motor 412 is fixedly installed with a rotating plate 413; the fixed plate 414 is fixedly connected to the rotating plate 413, and the fixed plate 414 is provided with a pitch-changing slot 415 which is limitedly slidably connected to the pitch-changing block 417; the pitch-changing screw rod 416 is rotatably connected to the fixed plate 414 through a bearing, and the pitch-changing screw rod 416 is threadedly connected to the pitch-changing block 417 through a threaded sleeve;

[0058] The extended connection assembly 42 includes a connection block 421, a connection rod 422, a limit slide bar 423, a limit slider 424, a cross bar 425 and a foot cover 426. The connection block 421 is rotatably connected to the pitch change block 417 through a bearing; the connection block 421 is limitedly slidably connected to the rear end of the connection rod 422, the front end of the connection rod 422 is fixedly installed with a cross bar 425, and the left and right sides of the cross bar 425 are symmetrically fixedly installed with foot covers 426 connected to the patient's feet; the limit slide bar 423 is fixedly installed at the lower end of the mobile frame 1, the limit slider 424 is limitedly slidably connected to the limit slide bar 423, and the limit slider 424 is limitedly slidably connected to the middle part of the connection rod 422;

[0059] The side of the connecting block 421 is provided with a screw for pressing against the connecting rod 422 to lock the connecting rod 422 in the connecting block 421. The position of the foot cover 426 can be adjusted by controlling the length of the connecting rod 422 extending out of the connecting block 421, so that the foot cover 426 can meet the use requirements of different patients, and the cross bar 425 can be avoided by the patient when it is not needed, so that the patient can smoothly carry out other activities;

[0060] In the present invention, the driving motor 412 drives the rotating plate 413 to rotate to drive the connecting rod 422 to move under the limiting action of the limiting slide bar 423 and the limiting slide block 424, so that the two ends of the connecting rod 422 can perform circular motion synchronously; by twisting the pitch variable screw 416, the pitch variable block 417 can be driven to slide in the pitch variable groove 415 of the fixed plate 414 to change the distance between the pitch variable block 417 and the axis of the driving motor 412, thereby realizing the adjustment of the diameter of the circular motion trajectory of the patient's leg, thereby adjusting the intensity of the patient's lower limb rehabilitation exercise.

[0061] The servo vertical movement component 13 includes a servo motor 131, a driving screw rod 132, a guide slide rod 133 and a mounting block 134. The servo motor 131 is fixedly installed at the lower end of the mobile frame 1, the two ends of the guide slide rod 133 are fixedly connected to the mobile frame 1, the two ends of the driving screw rod 132 are rotatably connected to the mobile frame 1 through bearings, and the output end of the servo motor 131 is fixedly connected to the driving screw rod 132; the rear end of the control box 11 is fixedly installed with a mounting block 134, the mounting block 134 is limitedly slidably connected to the guide slide rod 133, and the mounting block 134 is threadedly connected to the driving screw rod 132 through a threaded sleeve; the servo motor 131 drives the driving screw rod 132 to rotate, and the control box 11 can be controlled to move in vertical servo, so that the height of the adjustable electrical stimulation exoskeleton 2 meets the usage requirements of different patients.

[0062] The adjustable electrical stimulation exoskeleton 2 is composed of a support base 21, a first joint arm 22, a second joint arm 23 and a movable foot pedal 24 which are mutually hinged from top to bottom. The lower end of the support base 21 and the lower end of the first joint arm 22 are respectively provided with motors for controlling the servo rotation of the first joint arm 22 and the second joint arm 23, and the two motors cooperate to drive the patient's lower limbs to move; the support base 21, the first joint arm 22, the second joint arm 23 and the movable foot pedal 24 are all provided with straps 25 for fixing the patient's limbs thereto, and the inner sides of the straps 25 on the first joint arm 22 and the second joint arm 23 are provided with electrode sheets 26 for assisting electrical stimulation rehabilitation therapy; a damping adjustment component 27 for controlling knee flexion resistance is provided between the first joint arm 22 and the second joint arm 23;

[0063] The damping adjustment assembly 27 includes a fixed block 271, a friction top block 272, a protrusion 273, a groove 274 and an adjusting screw 275. The fixed block 271 is fixedly installed at the lower end of the first joint arm 22, and a groove 274 is provided on the fixed block 271. The friction top block 272 is used to support the upper end of the second joint arm 23. A protrusion 273 that is limited and slidably connected to the groove 274 is fixedly installed on the friction top block 272; the adjusting screw 275 is rotatably connected to the friction top block 272 through a bearing, and the adjusting screw 275 is threadedly connected to the fixed block 271 through a threaded sleeve; a rubber layer for increasing friction is provided between the friction top block 272 and the friction surface of the second joint arm 23; the friction top block 272 is controlled to approach or move away from the second joint arm 23 by twisting the adjusting screw 275, so as to control the friction between the friction top block 272 and the second joint arm 23, thereby realizing the adjustment of the rotational damping of the first joint arm 22 and the second joint arm 23, and meeting the patient's needs for different amplitudes of rehabilitation training.

[0064] The split assembly mechanism 5 includes a block 51, a slot 52 and a fixing screw hole 53. The outer side of the support seat 21 is conformed to the inner side of the fixing seat 14. The lower end of the support seat 21 is provided with a plurality of slots 52 along the bottom surface of the support seat 21. The lower end of the fixing seat 14 is fixedly installed with a plurality of blocks 51 that are plugged into the slots 52. The side walls of the support seat 21 and the fixing seat 14 are also provided with matching fixing screw holes 53. After the support seat 21 and the fixing seat 14 are aligned, the fixing seat 14 and the support seat 21 can be quickly fixed by screwing screws into the fixing screw holes 53, which greatly facilitates the disassembly and assembly of the fixing seat 14 and the support seat 21.

[0065] Matching electrode points are arranged between the fixing seat 14 and the supporting seat 21. When the fixing seat 14 and the supporting seat 21 are plugged and fixed, the adjustable electrical stimulation exoskeleton 2 can be automatically charged through the control box 11, which is convenient for users to use.

[0066] Embodiment 2: In some embodiments, Figure 2 and Fig. 9 As shown, as a preferred embodiment of the present invention, the linkage support mechanism 3 includes a support seat 31, a connecting plate 32, a tension spring 33, a pull rope 34, an avoidance groove 35, a pressure plate 36 and a support block 37. One end of the connecting plate 32 is hinged to the lower end of the mobile frame 1, and the other end of the connecting plate 32 is hinged to the lower side of the support seat 31. The center of gravity of the support seat 31 is located at the front end of the support seat 31; the front end of the support seat 31 is provided with an avoidance groove 35 for avoiding the variable diameter circular trajectory rehabilitation movement mechanism 4, and the rear end of the support seat 31 is fixedly installed with a pressure plate 36 for cooperating with the mounting block 134; the mobile frame 1 is also fixedly installed with a support block 37 overlapped with the pressure plate 36; when the pressure plate 36 is pressed on the support block 37, the support seat 31 is in a horizontal state;

[0067] A tension spring 33 is fixedly installed between the connecting plate 32 and the mobile frame 1, and a pull rope 34 is fixedly installed between the supporting seat 31 and the connecting plate 32; in a natural state, the tension spring 33 pulls the connecting plate 32, and the supporting seat 31 tilts forward to lift the pressure plate 36; when the control box 11 moves vertically downward, the mounting block 134 presses down the pressure plate 36 to lift the supporting seat 31 until the pressure plate 36 rests on the supporting block 37 and fits with the supporting block 37. At this time, the supporting seat 31 is in a horizontal state, which is used to support the patient in completing the putting on and taking off of the adjustable electrical stimulation exoskeleton 2 in a sitting state.

[0068] Embodiment 3: In some embodiments, Figure 1-Figure 9 As shown, as a preferred embodiment of the present invention, a method for using a bionic exoskeleton that is easy to assemble and disassemble comprises the following steps:

[0069] Step 1: The control box 11 is controlled to descend to the lowest point of its travel by the servo vertical moving component 13, and the linkage support mechanism 3 is automatically opened under the downward pressure of the control box 11. The patient sits on the linkage support mechanism 3 in a sitting position to complete the wearing operation of the adjustable electrical stimulation exoskeleton 2;

[0070] Step 2: After the wearing is completed, the servo vertical moving component 13 controls the control box 11 to move upward to lift the adjustable electrical stimulation exoskeleton 2 until the patient can maintain an upright state. During the lifting process of the adjustable electrical stimulation exoskeleton 2, the linkage support mechanism 3 automatically folds to make room for the patient;

[0071] Step 3: The adjustable electrical stimulation exoskeleton 2 provides support for the patient's lower limbs, and the support rod 15 provides support for the patient's upper limbs. The adjustable electrical stimulation exoskeleton 2 drives the patient's lower limbs to perform walking movements. After completing the initial warm-up training, the patient holds the support rod 15 and performs walking training independently;

[0072] Step 4: After the patient adapts to the walking rhythm, the patient's feet are connected to the foot cover 426, and the driving motor 412 drives the rotating plate 413 to rotate to drive the connecting rod 422 to move under the limiting action of the limiting slide bar 423 and the limiting slider 424, so that the two ends of the connecting rod 422 synchronously make circular motions, so that the patient can perform lower limb rehabilitation exercises;

[0073] Step 5: After the patient adapts to the current intensity each time, the pitch-changing screw rod 416 is twisted to drive the pitch-changing block 417 to slide in the pitch-changing slot 415 of the fixed plate 414, and the distance between the pitch-changing block 417 and the axis of the drive motor 412 is increased to increase the diameter of the circular track, thereby realizing a step-by-step enhancement of the patient's rehabilitation training intensity;

[0074] Step 6: After the patient adapts to the lower limb walking movements, the split combination mechanism 5 separates the adjustable electrical stimulation exoskeleton 2 from the mobile frame 1 to perform free walking training.

[0075] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bionic exoskeleton that is easy to assemble and disassemble, comprising a mobile frame (1) and an adjustable electrical stimulation exoskeleton (2), characterized in that: The upper end of the mobile frame (1) is provided with a servo vertical moving assembly (13), and the moving end of the servo vertical moving assembly (13) is fixedly mounted with a control box (11); a fixing seat (14) is fixedly mounted at the front end of the control box (11); support rods (15) are symmetrically fixedly mounted on the left and right sides of the fixing seat (14); and a plurality of universal running wheels (12) are provided at the lower end of the mobile frame (1); The fixing seat (14) is provided with a split combination mechanism (5) detachably connected to the adjustable electrical stimulation exoskeleton (2), and the adjustable electrical stimulation exoskeleton (2) has the function of adjusting the rotation resistance at its joints; The lower end of the mobile frame (1) is provided with a linkage support mechanism (3) for automatically unfolding to support the patient's buttocks when the fixed seat (14) moves down to the lowest point of its travel; The lower end of the mobile frame (1) is also provided with a variable diameter circular trajectory rehabilitation movement mechanism (4), the variable diameter circular trajectory rehabilitation movement mechanism (4) comprising an adjustable motion drive component (41) and an extension connection component (42), the bottom of the mobile frame (1) is provided with an adjustable motion drive component (41) capable of adjusting the diameter of the circular trajectory movement, and the mobile end of the adjustable motion drive component (41) is provided with an extension connection component (42) for driving the patient's foot to move.

2. The bionic exoskeleton that is easy to assemble and disassemble according to claim 1, characterized in that: The adjustable motion drive assembly (41) comprises a bracket (411), a drive motor (412), a rotating plate (413), a fixed plate (414), a pitch-changing slot (415) and a pitch-changing screw rod (416); the bracket (411) is fixedly mounted on the bottom of the mobile frame (1); the drive motor (412) is fixedly connected to the bracket (411); the rotating plate (413) is fixedly mounted on the output end of the drive motor (412); the fixed plate (414) is fixedly connected to the rotating plate (413); the fixed plate (414) is provided with a pitch-changing slot (415) which is limitedly slidably connected to a pitch-changing block (417); the pitch-changing screw rod (416) is rotatably connected to the fixed plate (414) via a bearing; the pitch-changing screw rod (416) is threadedly connected to the pitch-changing block (417) via a threaded sleeve.

3. The bionic exoskeleton that is easy to assemble and disassemble according to claim 2, characterized in that: The extension connection assembly (42) comprises a connection block (421), a connection rod (422), a limit sliding rod (423), a limit slider (424), a cross bar (425) and a foot cover (426); the connection block (421) is rotatably connected to the pitch-changing block (417) via a bearing; the connection block (421) is limit-slidingly connected to the rear end of the connection rod (422); the front end of the connection rod (422) is fixedly mounted with a cross bar (425); and foot covers (426) connected to the patient's feet are symmetrically fixedly mounted on the left and right sides of the cross bar (425); the limit sliding rod (423) is fixedly mounted on the lower end of the mobile frame (1); the limit slider (424) is limit-slidingly connected to the limit sliding rod (423); and the limit slider (424) is limit-slidingly connected to the middle part of the connection rod (422).

4. The bionic exoskeleton that is easy to assemble and disassemble according to claim 3, characterized in that: The adjustable electrical stimulation exoskeleton (2) is composed of a support base (21), a first joint arm (22), a second joint arm (23) and a movable foot pedal (24) which are mutually hinged from top to bottom; the support base (21), the first joint arm (22), the second joint arm (23) and the movable foot pedal (24) are all provided with straps (25) for fixing the patient's limbs thereto, and the inner sides of the straps (25) on the first joint arm (22) and the second joint arm (23) are provided with electrode sheets (26) for assisting electrical stimulation rehabilitation treatment; and a damping adjustment component (27) for controlling knee flexion resistance is provided between the first joint arm (22) and the second joint arm (23).

5. The bionic exoskeleton that is easy to assemble and disassemble according to claim 4, characterized in that: The damping adjustment component (27) comprises a fixed block (271), a friction top block (272), a convex block (273), a groove (274) and an adjusting screw rod (275); the fixed block (271) is fixedly mounted on the lower end of the first joint arm (22); the fixed block (271) is provided with a groove (274); the friction top block (272) is used to support the upper end of the second joint arm (23); the friction top block (272) is fixedly mounted with a convex block (273) which is limitedly slidably connected to the groove (274); the adjusting screw rod (275) is rotatably connected to the friction top block (272) via a bearing; the adjusting screw rod (275) is threadedly connected to the fixed block (271) via a threaded sleeve; and a rubber layer for increasing friction is provided between the friction top block (272) and the friction surface of the second joint arm (23).

6. The bionic exoskeleton that is easy to assemble and disassemble according to claim 5, characterized in that: The split combination mechanism (5) comprises a clamping block (51), a clamping slot (52) and a fixing screw hole (53); the outer side of the support seat (21) is conformally fitted with the inner side of the fixing seat (14); a plurality of clamping slots (52) are provided at the lower end of the support seat (21) along the bottom surface of the support seat (21); a plurality of clamping blocks (51) that are matched and plugged into the clamping slots (52) are fixedly installed at the lower end of the fixing seat (14); and matching fixing screw holes (53) are also provided on the side walls of the support seat (21) and the fixing seat (14); Matching electrode points are arranged between the fixing seat (14) and the supporting seat (21); after the fixing seat (14) and the supporting seat (21) are plugged and fixed, the adjustable electrical stimulation exoskeleton (2) is charged through the control box (11).

7. The bionic exoskeleton that is easy to assemble and disassemble according to claim 6, characterized in that: The servo vertical movement assembly (13) comprises a servo motor (131), a driving screw rod (132), a guide slide rod (133) and a mounting block (134); the servo motor (131) is fixedly mounted on the lower end of the mobile frame (1); the two ends of the guide slide rod (133) are fixedly connected to the mobile frame (1); the two ends of the driving screw rod (132) are rotatably connected to the mobile frame (1) via bearings; and the output end of the servo motor (131) is fixedly connected to the driving screw rod (132); a mounting block (134) is fixedly mounted on the rear end of the control box (11); the mounting block (134) is limitedly slidably connected to the guide slide rod (133), and the mounting block (134) is threadedly connected to the driving screw rod (132) via a threaded sleeve; the servo motor (131) drives the driving screw rod (132) to rotate, so that the control box (11) can be controlled to move in a vertical servo manner, so that the height of the adjustable electrical stimulation exoskeleton (2) meets the use requirements of different patients.

8. The bionic exoskeleton that is easy to assemble and disassemble according to claim 7, characterized in that: The linkage support mechanism (3) comprises a support seat (31), a connecting plate (32), a tension spring (33), a pull rope (34), an avoidance groove (35), a pressure plate (36) and a support block (37); one end of the connecting plate (32) is hinged to the lower end of the mobile frame (1), and the other end of the connecting plate (32) is hinged to the lower side of the support seat (31); the center of gravity of the support seat (31) is located at the front end of the support seat (31); the front end of the support seat (31) is provided with an avoidance groove (35) for avoiding the variable diameter circular trajectory rehabilitation movement mechanism (4); the rear end of the support seat (31) is fixedly installed with a pressure plate (36) for cooperating with the mounting block (134); the mobile frame (1) is also fixedly installed with a support block (37) overlapped with the pressure plate (36); when the pressure plate (36) is pressed on the support block (37), the support seat (31) is in a horizontal state.

9. The bionic exoskeleton that is easy to assemble and disassemble according to claim 8, characterized in that: A tension spring (33) is fixedly installed between the connecting plate (32) and the movable frame (1), and a pull rope (34) is fixedly installed between the supporting seat plate (31) and the connecting plate (32); in a natural state, the tension spring (33) pulls the connecting plate (32), and the supporting seat plate (31) tilts forward to lift the pressing plate (36).

10. A method for using a bionic exoskeleton that is easy to assemble and disassemble, using the bionic exoskeleton that is easy to assemble and disassemble according to claim 9, characterized in that: The following steps are involved: Step 1: The control box (11) is controlled to descend to the lowest point of its travel by means of the servo vertical moving component (13), and the linkage support mechanism (3) is automatically expanded under the downward pressure of the control box (11), and the patient sits on the linkage support mechanism (3) in a sitting position to complete the wearing operation of the adjustable electrical stimulation exoskeleton (2); Step 2: After the wearing is completed, the servo vertical moving component (13) controls the control box (11) to move upward to lift the adjustable electrical stimulation exoskeleton (2) until the patient can maintain an upright position. During the lifting process of the adjustable electrical stimulation exoskeleton (2), the linkage support mechanism (3) automatically folds to make room for the patient; Step 3: The adjustable electrical stimulation exoskeleton (2) provides support for the patient's lower limbs, and the support rod (15) provides support for the patient's upper limbs. The adjustable electrical stimulation exoskeleton (2) drives the patient's lower limbs to perform walking movements. After completing the initial warm-up training, the patient holds the support rod (15) and performs walking training independently; Step 4: After the patient has adapted to the walking rhythm, the patient's foot is connected to the foot cover (426), and the driving motor (412) drives the rotating plate (413) to rotate to drive the connecting rod (422) to move under the limiting action of the limiting slide bar (423) and the limiting slider (424), so that the two ends of the connecting rod (422) synchronously perform circular motion, allowing the patient to perform lower limb rehabilitation exercises; Step 5: After the patient adapts to the current intensity each time, the pitch-changing screw rod (416) is twisted to drive the pitch-changing block (417) to slide in the pitch-changing slot (415) of the fixed plate (414), thereby increasing the distance between the pitch-changing block (417) and the axis of the drive motor (412) to increase the diameter of the circular track, thereby achieving a step-by-step increase in the intensity of the patient's rehabilitation training; Step 6: After the patient has adapted to the movement of walking with the lower limbs, the split combination mechanism (5) separates the adjustable electrical stimulation exoskeleton (2) from the mobile frame (1) to perform free walking training.

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